mirror of
https://github.com/NanjingForestryUniversity/UpmatchinePassion-tomato.git
synced 2025-11-08 14:24:06 +00:00
664 lines
18 KiB
C++
664 lines
18 KiB
C++
#include "widget.h"
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#include "ui_widget.h"
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#include "camera.h"
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#include <QDateTime>
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#include "QSemaphore"
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#include "vector"
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#include <QTcpServer>
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#include <QTcpSocket>
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#define sys_file2 "./sys_daytime2.txt"
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//外部引用
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extern ProcessImg *processimg;
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extern SendThread *sendthread;
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extern RecvThread *recvthread;
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extern CameraL *cameraL;
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extern SpecCamera *speccamera;
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extern QSemaphore emptybuff;
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extern tomato tomato;
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// c++的省略命名申明
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using namespace std;
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bool is_timeout;
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int start_flag=1;
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int save_flag=0;
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//0为番茄 1为百香果
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int fruit_flag;
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int resoult_count = 1;
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int i = 1;
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//外部用用
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extern int camStatusret;
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extern int camStatusret1;
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extern int camStatusret2;
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extern int img_count;
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extern int img_count1;
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extern int img_count2;
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//定义管道名称
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extern HANDLE hPipe;
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extern HANDLE specPipe;
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extern HANDLE RPipe;
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extern QString pipeName;
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extern QString pipeName2;
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extern QString rePipe;
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int pipe_counter=1;
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//这是 Widge 的构造函数 在你点击运行之后 会执行
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Widget::Widget(QWidget *parent)
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: QWidget(parent)
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, ui(new Ui::Widget)
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{
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ui->setupUi(this);
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//直接导入本地时间（方法二）
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QFile daytime_file(sys_file2);
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QDateTime lastDateTime;
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if (daytime_file.open(QIODevice::ReadOnly | QIODevice::Text)) {
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QString line;
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QTextStream in(&daytime_file);
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while (!in.atEnd()) {
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line = in.readLine();
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}
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QStringList parts = line.split(" - ");
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if (parts.size() > 0) {
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lastDateTime = QDateTime::fromString(parts.first(), "yyyy-MM-dd HH:mm:ss");
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}
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daytime_file.close();
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}
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if (lastDateTime.isValid() && lastDateTime > QDateTime::currentDateTime()) {
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QMessageBox::about(this, "错误", "时间校验不通过");
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throw ExpiredException();
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}
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QDateTime expiryDate = QDateTime::fromString("2024-08-01 14:00:00", "yyyy-MM-dd HH:mm:ss");
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QDateTime currentDate = QDateTime::currentDateTime();
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if (currentDate >= expiryDate) {
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throw ExpiredException();
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}
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//处理光谱数据的线程
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processimg = new ProcessImg();
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//发送给python端线程
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sendthread = new SendThread();
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//接收python端线程
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recvthread = new RecvThread();
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//new 代表给三个线程开辟空间
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initparam();
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/**连接相机*/
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cameraL = new CameraL();
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//初始化RGB相机
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bool RGB_ret = cameraL->initCameraL();
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if(camStatusret ==0 && RGB_ret)
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{
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ui->RGBstatus->setText("已连接");
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ui->RGBstatus->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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}
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if(camStatusret1 ==0 && RGB_ret)
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{
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ui->RGBstatus_1->setText("已连接");
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ui->RGBstatus_1->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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}
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if(camStatusret2 ==0 && RGB_ret)
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{
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ui->RGBstatus_2->setText("已连接");
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ui->RGBstatus_2->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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}
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//初始化光谱相机
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speccamera = new SpecCamera();
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bool spec_ret = speccamera->init_SpecCamera();
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if(spec_ret == true)
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{
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ui->spec_camera_status->setText("已连接");
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ui->spec_camera_status->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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}
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//初始化称重模块
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connectModbus_CZ();
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//初始化机械手
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connect_socket_Jxs();
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//管道建立连接
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connectPipe();
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}
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Widget::~Widget()
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{
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delete ui;
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}
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//初始话参数 并非实际相机的参数 而是 ui 界面上的 tab3 上的控件参数
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void Widget::initparam()
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{
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camStatusret=-1;
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camStatusret1=-1;
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camStatusret2=-1;
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ui->tabWidget->setCurrentIndex(2);
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setMinimumSize(QSize(1200, 600));
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setWindowState(Qt::WindowMaximized);
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}
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void Widget::connectModbus_CZ()
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{
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//称重模块
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CZ = modbus_new_tcp("192.168.101.110",2000);
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modbus_set_slave(CZ, 1); //设置modbus从机地址
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int status = modbus_connect(CZ);
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if(status == -1)
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{
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qDebug() << "modbus connect failed";
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}
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else
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{
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ui->plc_status->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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ui->plc_status->setText("已连接");
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}
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modbus_set_response_timeout(CZ, 0, 1000000);
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}
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void Widget::connect_socket_Jxs()
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{
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server = new QTcpServer();
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server->listen(QHostAddress::Any, 21123);
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bool is_timeout;
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server->waitForNewConnection(5000, &is_timeout);
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if(is_timeout == true)
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{
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qDebug() << "Jxs connect failed";
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return;
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}
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socket = server->nextPendingConnection();
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ui->jxs_status->setStyleSheet("QLabel{color:rgb(0,255,0);}");
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ui->jxs_status->setText("已连接");
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}
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void Widget::connectPipe()
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{
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// 创建并连接到命名管道
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hPipe = CreateFile(
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(LPCWSTR)pipeName.utf16(), // 管道名称
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GENERIC_WRITE, // 写入访问
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0, // 不共享
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NULL, // 默认安全属性
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OPEN_EXISTING, // 打开现有管道
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FILE_ATTRIBUTE_NORMAL, // 默认属性
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NULL // 没有模板文件
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);
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// 创建并连接到命名管道（光谱相机发送）
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specPipe = CreateFile(
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(LPCWSTR)pipeName2.utf16(), // 管道名称
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GENERIC_WRITE, // 写入访问
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0, // 不共享
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NULL, // 默认安全属性
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OPEN_EXISTING, // 打开现有管道
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FILE_ATTRIBUTE_NORMAL, // 默认属性
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NULL // 没有模板文件
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);
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// 创建并连接到命名管道
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RPipe = CreateFile(
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(LPCWSTR)rePipe.utf16(), // 管道名称
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GENERIC_READ, // 更改为读取访问
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0, // 不共享
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NULL, // 默认安全属性
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OPEN_EXISTING, // 打开现有管道
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FILE_ATTRIBUTE_NORMAL, // 默认属性
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NULL // 没有模板文件
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);
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if (RPipe == INVALID_HANDLE_VALUE) {
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qWarning() << "Failed to open pipe for reading:" << GetLastError();
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return;
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}
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}
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//点击 ui 界面的开始按钮
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void Widget::on_btn_start_clicked()
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{
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//start_flag 为 1
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if(start_flag)
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{
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QFile file(sys_file2);
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if (file.open(QIODevice::Append | QIODevice::Text)) {
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QTextStream out(&file);
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out << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss") << " - " << "\n";
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file.close();
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}
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ui->btn_start->setStyleSheet("background-color: red;");
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cameraL->open_camera2();
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cameraL->set_acquisition_mode();
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cameraL->start_capture();
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speccamera->start_capture();
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//开启线程 也就是执行一次对应线程的 run() 函数 在 thread 里面有 即执行三个线程的 while（1） 死循环 一直监听
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processimg->start();
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sendthread->start();
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recvthread->start();
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//连接信号跟槽函数
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connect(cameraL,SIGNAL(send_Rgbimage(QImage&)),this,SLOT(showimg(QImage&)),Qt::BlockingQueuedConnection);
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connect(cameraL,SIGNAL(send_Rgbimage1(QImage&)),this,SLOT(showimg1(QImage&)),Qt::BlockingQueuedConnection);
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connect(cameraL,SIGNAL(send_Rgbimage2(QImage&,QImage&,QImage&)),this,SLOT(showimg2(QImage&,QImage&,QImage&)),Qt::BlockingQueuedConnection);
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connect(speccamera,SIGNAL(show_SpecImg(QImage)),this,SLOT(show_specImgSlots(QImage)));
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connect(recvthread,SIGNAL(recv_Data(quint16,quint8,quint16,quint8,quint16,quint32,quint16,quint16,QImage)),this,SLOT(receiveDataSlots(quint16,quint8,quint16,quint8,quint16,quint32,quint16,quint16,QImage)));
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start_flag=0;
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ui->tabWidget->setCurrentIndex(3);
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// qDebug()<<"Start Success!";
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}
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//start_flag 为 0
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else
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{
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QFile file(sys_file2);
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if (file.open(QIODevice::Append | QIODevice::Text)) {
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QTextStream out(&file);
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out << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss") << " - " << "\n";
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file.close();
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}
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ui->btn_start->setStyleSheet("background-color: white;");
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cameraL->stop_capture();
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speccamera->stop_capture();
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disconnect(cameraL,SIGNAL(send_Rgbimage(QImage&)),this,SLOT(showimg(QImage&)));
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disconnect(cameraL,SIGNAL(send_Rgbimage1(QImage&)),this,SLOT(showimg1(QImage&)));
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disconnect(cameraL,SIGNAL(send_Rgbimage2(QImage&,QImage&,QImage&)),this,SLOT(showimg2(QImage&,QImage&,QImage&)));
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disconnect(speccamera,SIGNAL(show_SpecImg(QImage)),this,SLOT(show_specImgSlots(QImage)));
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disconnect(recvthread,SIGNAL(recv_Data(quint16,quint8,quint16,quint8,quint16,quint32,quint16,quint16,QImage)),this,SLOT(receiveDataSlots(quint16,quint8,quint16,quint8,quint16,quint32,quint16,quint16,QImage)));
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ui->showimg_left->clear();
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ui->showimg_right->clear();
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ui->label_topL->clear();
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ui->label_topM->clear();
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ui->label_topR->clear();
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start_flag=1;
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// qDebug() << "Stop Success!";
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}
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}
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//右侧
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void Widget::showimg(QImage& img)
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{
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pix = QPixmap::fromImage(img.scaled(ui->showimg_left->width(),ui->showimg_left->height(),Qt::KeepAspectRatio));
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ui->showimg_left->setScaledContents(true);
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ui->showimg_left->setPixmap(pix);
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ui->showimg_left->show();
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}
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//左侧
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void Widget::showimg1(QImage& img)
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{
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pix = QPixmap::fromImage(img.scaled(ui->showimg_right->width(),ui->showimg_right->height(),Qt::KeepAspectRatio));
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ui->showimg_right->setScaledContents(true);
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ui->showimg_right->setPixmap(pix);
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ui->showimg_right->show();
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}
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//顶部
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void Widget::showimg2(QImage& img,QImage& img1,QImage& img2)
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{
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pix = QPixmap::fromImage(img.scaled(ui->label_topL->width(),ui->label_topL->height(),Qt::KeepAspectRatio));
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ui->label_topL->setScaledContents(true);
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ui->label_topL->setPixmap(pix);
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ui->label_topL->show();
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pix1 = QPixmap::fromImage(img1.scaled(ui->label_topM->width(),ui->label_topM->height(),Qt::KeepAspectRatio));
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ui->label_topM->setScaledContents(true);
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ui->label_topM->setPixmap(pix1);
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ui->label_topM->show();
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pix2 = QPixmap::fromImage(img2.scaled(ui->label_topR->width(),ui->label_topR->height(),Qt::KeepAspectRatio));
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ui->label_topR->setScaledContents(true);
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ui->label_topR->setPixmap(pix2);
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ui->label_topR->show();
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}
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void Widget::on_save_img_clicked()
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{
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save_flag=1;
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}
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//退出
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void Widget::on_btn_quit_clicked()
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{
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qApp->quit();
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}
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//保存图片按钮
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void Widget::on_btn_save_clicked()
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{
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if(!save_flag)
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{
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ui->btn_save->setStyleSheet("background-color: red;");
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save_flag=1;
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}
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else
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{
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ui->btn_save->setStyleSheet("background-color: white;");
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save_flag=0;
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}
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}
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void Widget::on_btn_setparam_clicked()
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{
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ui->tabWidget->setCurrentIndex(2);
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}
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//导入参数 实际没用 因为相机参数会预先写死 并不会在运行途中更换
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void Widget::on_btn_enterparam_clicked()
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{
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}
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//接受线程收到数据 长径、短径等等 在 ui 界面显示
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void Widget::receiveDataSlots(quint16 brix,quint8 greenPercentage,quint16 diameter,quint8 weight,quint16 defectNum,quint32 totalDefectArea,quint16 height,quint16 width,QImage img)
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{
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img = img.rgbSwapped();
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pix = QPixmap::fromImage(img.scaled(ui->show_resultsImg->width(),ui->show_resultsImg->height(),Qt::KeepAspectRatio));
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ui->show_resultsImg->setScaledContents(true);
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ui->show_resultsImg->setPixmap(pix);
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ui->show_resultsImg->show();
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float brix_float = brix;
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float totalDefectArea_float = totalDefectArea;
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float greenPercentage_float = greenPercentage;
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float diameter_float = diameter;
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// ui->Tdangdu_line->setText(QString::number(brix_float/1000)); //
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// ui->Zhijing_line->setText(QString::number(diameter_float/100)); //cm
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// ui->Shuliang_line->setText(QString::number(defectNum));
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// ui->Mianji_line->setText(QString::number(totalDefectArea_float/1000)); //cm^2
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// ui->Zhanbi_line->setText(QString::number(greenPercentage_float/100)); //
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//重量是g
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//读取称重数据
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uint16_t read = 0;
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modbus_read_registers(CZ,0x40000,1,&read);
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qDebug()<<"称重数据"<<read;
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int level = 5;
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//百香果
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if(fruit_flag)
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{
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if(diameter = 0)
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{
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level = 4;
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}
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else
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{
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if(defectNum = 0)
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{
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level = 4;
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}
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else
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{
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if(totalDefectArea_float/1000 > 2)
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{
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level = 4;
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}
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else
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{
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if(read > 90)
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{
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level = 1;
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}
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else if(read < 65)
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{
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level = 3;
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}
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else
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{
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level = 2;
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}
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}
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}
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}
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}
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//番茄
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else
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{
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if(diameter == 0)
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{
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level = 5;
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}
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else
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{
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if(defectNum != 0)
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{
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level = 5;
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}
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else
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{
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if(totalDefectArea_float/1000 >= Quexianmianji)
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{
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level = 5;
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}
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else
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{
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if(greenPercentage_float/100 >= Yansezhanbi)
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{
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if(diameter_float/100 >= Zhijing -2)
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{
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level = 3;
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}
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else
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{
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level = 4;
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}
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}
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else
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||
{
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||
if(diameter_float/100 >= Zhijing)
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{
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level = 1;
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}
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else
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||
{
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level = 2;
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}
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}
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}
|
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}
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}
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}
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// ui->resoult_line->setText(QString::number(level));
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qDebug()<<"果子等级为:"<<level;
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//窗口显示
|
||
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||
if(resoult_count%25 == 0)
|
||
{
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||
ui->resoult_info_label->clear();
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||
}
|
||
|
||
QString resout_info;
|
||
QString fruit_resoult_flag;
|
||
//百香果
|
||
if(fruit_flag)
|
||
{
|
||
if(defectNum == 0)
|
||
{
|
||
fruit_resoult_flag = "有";
|
||
}
|
||
else
|
||
{
|
||
fruit_resoult_flag = "无";
|
||
}
|
||
resout_info = QString("当前百香果编号为：%1 糖度值为： %2 直径为： %3 %4皱缩 缺陷面积为： %5 最终识别结果为：%6 ").arg(resoult_count).arg(brix_float/1000).arg(diameter_float/100).arg(fruit_resoult_flag).arg(totalDefectArea_float/1000).arg(level);
|
||
ui->resoult_info_label->appendPlainText(resout_info);
|
||
}
|
||
//番茄
|
||
else
|
||
{
|
||
if(defectNum == 0)
|
||
{
|
||
fruit_resoult_flag = "无";
|
||
}
|
||
else
|
||
{
|
||
fruit_resoult_flag = "有";
|
||
}
|
||
resout_info = QString("当前番茄编号为：%1 直径为： %2 %3裂口 缺陷面积为： %4 绿色占比为： %5 最终识别结果为：%6 ").arg(resoult_count).arg(diameter_float/100).arg(fruit_resoult_flag).arg(totalDefectArea_float/1000).arg(greenPercentage_float/100).arg(level);
|
||
ui->resoult_info_label->appendPlainText(resout_info);
|
||
}
|
||
|
||
resoult_count++ ;
|
||
QFile file("./image/output.txt");
|
||
if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
|
||
{
|
||
QTextStream out(&file);
|
||
out << resout_info << "\n";
|
||
file.close();
|
||
}
|
||
i++;
|
||
|
||
// 给机械手发送信息
|
||
QString txt = QString("[X:0;Y:0;A:0;ATTR:%1;ID:%2]").arg(level).arg(fruit_flag);
|
||
QByteArray byteArray = txt.toUtf8();
|
||
socket->write(byteArray);
|
||
// qDebug()<<"发送机械手信息等级为:"<<level;
|
||
|
||
//给plc发送信息
|
||
uint16_t write[2];
|
||
write[0] = resoult_count;
|
||
write[1] = level;
|
||
modbus_write_registers(CZ,0x40001,2,write);
|
||
// qDebug()<<"发送plc信息等级为:"<<level;
|
||
|
||
|
||
|
||
//称重数据在 read 里面
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
//显示光谱伪彩色图 实际效果很差 就取消了
|
||
//展示一条折线
|
||
void Widget::show_specImgSlots(QImage img)
|
||
{
|
||
// qDebug()<<"2";
|
||
QTransform transform;
|
||
transform.rotate(90.0);
|
||
img = img.transformed(transform, Qt::FastTransformation);
|
||
|
||
pix = QPixmap::fromImage(img.scaled(ui->spec_camera_show->width(),ui->spec_camera_show->height(),Qt::KeepAspectRatio));
|
||
ui->spec_camera_show->setScaledContents(true);
|
||
ui->spec_camera_show->setPixmap(pix);
|
||
ui->spec_camera_show->show();
|
||
}
|
||
|
||
|
||
void Widget::on_view_results_clicked()
|
||
{
|
||
QString resoult_path = "C:/Users/succtech/Desktop/20240425/image";
|
||
// 打开文件选择对话框，并设置默认路径
|
||
QString filePath = QFileDialog::getOpenFileName(this, "查看结果", resoult_path);
|
||
}
|
||
|
||
void Widget::on_tab4_ReturnToMain_clicked()
|
||
{
|
||
ui->tabWidget->setCurrentIndex(1);
|
||
}
|
||
|
||
void Widget::on_choose_pa_clicked()
|
||
{
|
||
fruit_flag = 1;
|
||
//tab2
|
||
ui->passionBtn->setStyleSheet("background-color: red;");
|
||
ui->tomatoBtn->setStyleSheet("background-color: white;");
|
||
|
||
//tab3
|
||
ui->choose_pa->setStyleSheet("background-color: red;");
|
||
ui->choose_to->setStyleSheet("background-color: white;");
|
||
|
||
//tab4
|
||
ui->choose_pa_2->setStyleSheet("background-color: red;");
|
||
ui->choose_to_2->setStyleSheet("background-color: white;");
|
||
|
||
ui->tabWidget->setCurrentIndex(1);
|
||
}
|
||
|
||
void Widget::on_choose_to_clicked()
|
||
{
|
||
fruit_flag = 0;
|
||
//tab2
|
||
ui->tomatoBtn->setStyleSheet("background-color: red;");
|
||
ui->passionBtn->setStyleSheet("background-color: white;");
|
||
|
||
//tab3
|
||
ui->choose_to->setStyleSheet("background-color: red;");
|
||
ui->choose_pa->setStyleSheet("background-color: white;");
|
||
|
||
//tab4
|
||
ui->choose_to_2->setStyleSheet("background-color: red;");
|
||
ui->choose_pa_2->setStyleSheet("background-color: white;");
|
||
|
||
ui->tabWidget->setCurrentIndex(1);
|
||
}
|
||
|
||
void Widget::on_tab3_ReturnToMain_clicked()
|
||
{
|
||
ui->tabWidget->setCurrentIndex(1);
|
||
}
|
||
|
||
void Widget::on_show_resoult_clicked()
|
||
{
|
||
ui->tabWidget->setCurrentIndex(3);
|
||
}
|
||
|
||
void Widget::on_set_threshoid_clicked()
|
||
{
|
||
Tangdu = ui->InputNum1->text().toInt();
|
||
Zhijing = ui->InputNum2->text().toInt();
|
||
Yansezhanbi = ui->InputNum3->text().toInt();
|
||
Quexianshuliang = ui->InputNum4->text().toInt();
|
||
Quexianmianji = ui->InputNum5->text().toInt();
|
||
}
|
||
|